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Effective interest rate for the funds borrowed under the debt agreement considering interest compounding and original issue discount or premium.

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Amount of payment greater than the preceding installment payments to be paid at final maturity date of debt.

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The amount of debt discount that was originally recognized at the issuance of the instrument that has yet to be amortized.

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Agreed upon price for the exchange of the underlying asset.

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Loan and Security Agreements - Oxford Loan and Hercules Loan (Details)	1 Months Ended		12 Months Ended
	Feb. 28, 2015 USD ($) $ / shares shares	Dec. 31, 2012 USD ($) $ / shares shares	Dec. 31, 2015 USD ($) installment $ / shares shares	Dec. 31, 2014 USD ($) installment	Dec. 31, 2013 USD ($)	Dec. 31, 2012 $ / shares shares
Loan and Security Agreements
Fair value of common stock warrant issued with debt financing			$ 1,184,000
Significant assumptions used in preparing the option pricing model for valuing the Company's warrants
Fair value of stock (in dollars per share) \| $ / shares			$ 9.76
Loss on extinguishment of debt			$ 1,036,000
Warrants \| Common stock warrants
Loan and Security Agreements
Common stock that can be purchased with warrants (in shares) \| shares	180,274
Exercise price of warrants (in dollars per share) \| $ / shares	$ 5.89
Significant assumptions used in preparing the option pricing model for valuing the Company's warrants
Volatility (as a percent)	75.00%
Risk free interest rate (as a percent)	1.22%
Life of treasury bonds	4 years
Strike price (in dollars per share) \| $ / shares	$ 5.89
Fair value of stock (in dollars per share) \| $ / shares	$ 9.82
Expected life	4 years
Additional Paid-in Capital
Loan and Security Agreements
Fair value of common stock warrant issued with debt financing	$ 1,200,000		$ 1,184,000
Warrants \| Common stock warrants
Loan and Security Agreements
Common stock that can be purchased with warrants (in shares) \| shares		62,505	62,505			62,505
Exercise price of warrants (in dollars per share) \| $ / shares		$ 6.00	$ 6.00			$ 6.00
Secured debt
Significant assumptions used in preparing the option pricing model for valuing the Company's warrants
Interest expense, including accretion of value of related warrants and amortization of deferred financing costs			$ 2,077,000	$ 1,545,000	$ 1,472,000
Secured debt \| Oxford Loan
Loan and Security Agreements
Amount borrowed		$ 15,000,000
Repayment of existing debt	15,500,000
Number of consecutive monthly principal installments \| installment				30
Final payment				$ 675,000
Secured debt \| Hercules Loan
Loan and Security Agreements
Maximum borrowing capacity	25,000,000
Amount borrowed	16,500,000
Additional amount available	8,500,000
Interest rate (as a percent)			9.00%
Variable rate basis			Prime minus 4.25%
Number of consecutive monthly principal installments \| installment			30
Final payment			$ 610,500
Discount on debt	1,200,000
Secured debt \| LIBOR \| Oxford Loan
Loan and Security Agreements
Interest rate (as a percent)				9.20%
Variable rate basis				Three-month U.S. Libor
Variable rate base (as a percent)				0.47%
Variable interest rate margin (as a percent)				8.73%
Secured debt \| Prime \| Hercules Loan
Loan and Security Agreements
Variable rate basis			Prime minus 4.25%
Variable interest rate margin (as a percent)						9.00%
Variable rate adjustment (as a percent)			4.25%
Secured debt \| First year \| Hercules Loan
Loan and Security Agreements
Prepayment premium as percentage of outstanding principal			3.00%
Secured debt \| Second year \| Hercules Loan
Loan and Security Agreements
Prepayment premium as percentage of outstanding principal			2.00%
Secured debt \| After the second year \| Hercules Loan
Loan and Security Agreements
Prepayment premium as percentage of outstanding principal			1.00%
Equity financings \| Right to participate in future equity financings \| Secured debt \| Hercules Loan \| Hercules \| Maximum
Loan and Security Agreements
Equity financings amount	$ 2,000,000
Secured debt \| Oxford Loan
Significant assumptions used in preparing the option pricing model for valuing the Company's warrants
Loss on extinguishment of debt			$ 1,000,000